Construction machine with a hydraulic system

Abstract

A construction machine with a hydraulic system has a hydraulic control, which comprises a joystick, a hydraulic pressure source, and two hydraulic drives. Main control valves are controlled by a joystick. The construction machine comprises multiple components, and a hydraulic drive is assigned for moving these components. The hydraulic control comprises an electrically-actuatable priority proportional valve in the hydraulic connection of a drive. The priority valve is electrically connected to the electronic control unit and generates additional hydraulic resistance. The hydraulic control comprises sensors, on the components, for detection of the positions thereof. The detected sensor values are transferred to the control unit. At least one trajectory is stored in the control unit. A control mode can be activated, in which each priority valve is controlled using the current sensor values upon actuation of the joystick so that the stored trajectory is run by control of the drives.

We claim: 
     
       1. A construction machine ( 100 ) with a hydraulic system with at least one hydraulic control ( 1 ), the construction machine ( 100 ) comprising multiple components ( 9 ) moveable at least relative to one another, the at least one hydraulic control ( 1 ) comprising:
 at least one joystick ( 15 ); 
 at least one hydraulic pressure source ( 2 ); 
 two hydraulic drives ( 3 ) each connected to the at least one hydraulic pressure source ( 2 ) by a hydraulic connection ( 4 ); 
 at least two main control valves ( 6 ) provided in each of the hydraulic connections ( 4 ), each of the at least two main control valves ( 6 ) controllable by the at least one joystick; 
 at least one priority valve ( 7 ) being an electrically actuatable proportional valve assigned to one of the two hydraulic drives ( 3 ) and provided in the hydraulic connection ( 4 ) thereof; 
 an electronic control unit ( 14 ) electrically connected to the at least one priority valve ( 7 ); and 
 electrical movement sensors ( 12 ) provided on the movable components ( 9 ) for indirect or direct detection of respective positions thereof, the electrical movement sensors ( 12 ) are in each case connected to the movable components ( 9 ) in order to transfer detected sensor values to the electronic control unit ( 14 ), 
 wherein a pressure level of each of the two hydraulic drives ( 3 ) depends on a working point of one of the hydraulic drives ( 3 ) selected in each case, 
 wherein each of the multiple components ( 9 ) is operatively connected to one of the hydraulic drives ( 3 ) for moving one of the multiple components ( 9 ), 
 wherein the at least one priority valve ( 7 ) is controlled by the electronic control unit ( 14 ) to generate additional hydraulic resistance, 
 wherein in addition, in the electronic control unit ( 14 ), on the one hand, at least one trajectory can be stored, and, on the other hand, a control mode can be activated, in which the at least one priority valve ( 7 ) can be controlled using the values actually detected in each case by the electrical movement sensors ( 12 ) upon actuation of the at least one joystick ( 15 ) by the electronic control unit ( 14 ) in such a way that the at least one stored trajectory is run by corresponding control of the hydraulic drives ( 3 ). 
 
     
     
       2. The construction machine ( 100 ) according to  claim 1 , comprising at least two hydraulic pressure sources ( 2 ), wherein each of the two hydraulic drives ( 3 ) is connected to each of the at least two pressure source ( 2 ) by one of the hydraulic connections ( 4 ) each, and wherein the at least two hydraulic pressure sources ( 2 ) have different pressure levels. 
     
     
       3. The construction machine ( 100 ) according to  claim 1 , wherein the at least one priority valve ( 7 ) in the corresponding hydraulic connection ( 4 ) or one of the priority valves ( 7 ) in each of the corresponding hydraulic connections ( 4 ) is/are arranged in each case between the corresponding at least one hydraulic pressure source ( 2 ) and the associated main control valve ( 6 ). 
     
     
       4. The construction machine ( 100 ) according to  claim 1 , wherein each of the at least two main control valves ( 6 ) is a hydraulically-controlled main control valve ( 6 ), and wherein the corresponding at least one joystick ( 15 ) provided for the at least one hydraulic control ( 1 ) is at least partially a hydraulic joystick, with which at least one of the at least two hydraulically-controlled main control valves ( 6 ) can be controlled. 
     
     
       5. The construction machine ( 100 ) according to  claim 1 , wherein at least one of the electrical movement sensors ( 12 ) is assigned to each hydraulic drive ( 3 ) for detecting movements of the relevant hydraulic drive ( 3 ). 
     
     
       6. The construction machine ( 100 ) according to  claim 1 , wherein in the case of at least one hydraulic control ( 1 ), at least one of the electrical movement sensors ( 12 ) is assigned to each of the hydraulic drives ( 3 ) for detecting movements of the relevant component that can be moved by the respective hydraulic drive ( 3 ). 
     
     
       7. The construction machine ( 100 ) according to  claim 1 , wherein the at least one of the electrical movement sensors ( 12 ) is designed for detecting the position of one of the movable components ( 9 ) of the construction machine ( 100 ) for the indirect or direct detection of the absolute position in space. 
     
     
       8. The construction machine ( 100 ) according to  claim 1 , wherein the at least one of the electrical movement sensors ( 12 ) for detecting the position of the at least one of the movable components ( 9 ) of the construction machine ( 100 ) is designed for detecting the relative position of one of the movable components ( 9 ) with reference to the construction machine ( 100 ) and/or another movable component of the construction machine ( 100 ). 
     
     
       9. The construction machine ( 100 ) according to  claim 1 , wherein in each case a pressure sensor ( 16 ) is connected to the electronic control unit ( 14 ) and is assigned to at least one of the hydraulic drives ( 3 ), and wherein the pressure sensor ( 16 ) detects a hydraulic pressure acting on the at least one of the hydraulic drives ( 3 ) and passes it on to the electronic control unit ( 14 ). 
     
     
       10. The construction machine ( 100 ) according to  claim 1 , wherein at least one of the at least two main control valves ( 6 ) is electrically-controlled, and wherein the at least one joystick ( 15 ) is designed as an at least partially electric joystick for controlling at least one of the at least two main control valves ( 6 ). 
     
     
       11. The construction machine ( 100 ) according to  claim 1 , wherein the hydraulic connection ( 4 ) is formed in a partial area between one of the at least two main control valves ( 6 ) and one of the two hydraulic drives ( 3 ) by two partial connections. 
     
     
       12. The construction machine ( 100 ) according to  claim 1 , wherein the construction machine is a hydraulic excavator ( 100 ) and comprises an undercarriage ( 10 ), a rotating superstructure ( 11 ) arranged thereon, and an extension arm ( 9 ) arranged to be able to pivot on the superstructure ( 11 ). 
     
     
       13. The construction machine ( 100 ) according to  claim 12 , wherein the extension arm ( 9 ) is an articulated arm with a first arm segment ( 91 ) arranged to be able to pivot on the superstructure ( 11 ) and with a second arm segment ( 92 ) arranged to be able to pivot on the first arm segment ( 91 ), wherein a bucket ( 13 ) is configured to pivot on the second arm segment ( 92 ). 
     
     
       14. The construction machine ( 100 ) according to  claim 13 , wherein the two hydraulic drives ( 3 ) are configured to produce maximum forces of different levels, and one of the hydraulic drives ( 3 ) with a higher maximum force is assigned to the first arm segment ( 91 ) for its pivoting, and wherein other of the hydraulic drives ( 3 ) with a lower maximum force is assigned to the second arm segment ( 92 ) for its pivoting relative to the first arm segment ( 91 ). 
     
     
       15. The construction machine ( 100 ) according to  claim 1 , wherein at least one of the two hydraulic drives ( 3 ) is designed as at least one hydraulic cylinder ( 5 ). 
     
     
       16. The construction machine ( 100 ) according to  claim 1 , wherein the control mode can be activated at least manually. 
     
     
       17. The construction machine ( 100 ) according to  claim 1 , wherein the detected sensor values are stored in the electronic control unit ( 14 ), in which the control mode is to be activated, and wherein an algorithm for evaluating the sensor values currently detected by the electrical movement sensors ( 12 ), and, in the event that they accordingly match the sensor values stored in the electronic control unit ( 14 ), and/or sensor value combination(s) and/or sensor value sequence(s), automatic activation of the control mode is integrated into the electronic control unit ( 14 ). 
     
     
       18. The construction machine ( 100 ) according to  claim 17 , wherein an automatic mode can be activated in the electronic control unit ( 14 ), in which automatic mode the algorithm for automatic activation of the control mode is active. 
     
     
       19. The construction machine ( 100 ) according to  claim 1 , wherein the at least one priority valve ( 7 ) in the corresponding hydraulic connection ( 4 ) is arranged in each case between the at least one hydraulic pressure source ( 2 ) and the associated one of the at least two main control valves ( 6 ).